Article-handling machine for use with electronic assemblies

ABSTRACT

A printed circuit card transfer machine comprises a transfer table, an unloading mechanism movable relative to the transfer table, and means for indexing a magazine loaded with printed circuit card assemblies along the transfer table to an unloading position. The transfer table has a top plate with apertures over which the magazine moves. The indexing mechanism is a horizontal frame located under the top plate and having feed teeth extendable upwardly through the apertures to engage the magazine. The feed frame is cycled through a square motion pattern by an oscillatable elevating mechanism and a reciprocating mechanism operated by pneumatic cylinders controlled by pilot valves for sensing the location of the feed frame and the condition of the unload mechanism. Cam means located on the transfer table and the feed frame provide a square motion guide path for the frame to precisely position the feed frame for engaging and holding cardholding channel of the magazine for feeding to the unloading position.

United States Patent [72] Inventor Ernest I... Newman Owego, N.Y. [21]Appl. No. 750,226 [22] Filed Aug. 5, 1968 [45] Patented Sept. 28, 1971['73] Assignee International Business Machines Corporation Armonk, N.i(.

[54] ARTICLE-HANDLING MACHINE FOR USE WllTll ELECTRONIC ASSEMBLIES 4Claims, 7 Drawing Figs.

52 us. Cl 271/43 R [51] Int. Cl 1865b 3/24 [50] Field of Search 271/54,43 R; 198/24, 218; 353/106 [56] Referencm Cited UNITED STATES PATENTS3,263,559 8/1966 Golden 353/106 2,943,726 6/1960 Granath. 198/1353,128,800 4/1964 Faerber 198/135 X 2,907,155 10/1959 Engleson et a1198/24 X 3,144,925 8/1964 Brooke 3,348,653 8/1967 Mills ABSTRACT: Aprinted circuit card transfer machine comprises a transfer table, anunloading mechanism movable relative to the transfer table, and meanslfor indexing a magazine loaded with printed circuit card assembliesalong the transfer table to an unloading position. The transfer tablehas a top plate with apertures over which the magazine moves. Theindexing mechanism is a horizontal frame located under the top plate andhaving feed teeth extendable upwardly through the apertures to engagethe magazine. The feed frame is cycled through a square motion patternby an oscillatable elevating mechanism and a reciprocating mechanismoperated by pneumatic cylinders controlled by pilot valves for sensingthe location of the feed frame and the condition of the unloadmechanism. Cam means located on the transfer table and the feed frameprovide a square motion guide path for the frame to precisely positionthe feed frame for engaging and holding card-holding channel of themagazine for feeding to the unloading position.

PATENTEU SEP28 n91:

SHEET 1 BF 6 SHEET Q UF 6 PMENTEU SEP28 IQYI PATENTED SEP28 12m SHEET 3OF 6 mm M:

mm 5 S PATENTED SEP28 l97l SHEET lb 0F 6 FIG.

PATENTED SEP28 I971 SHEET 5 BF 6 7- sue FIG.

FIG. 6

ARTICLE-HANDLING MACHINE FOR USE WITH ELECTRONIC ASSEMBLES BACKGROUND OFTHE INVENTION 1 Field of the Invention This invention relates tomachines for automatically handling articles of manufacture, andparticularly to machines for handling the electronic assemblies such asprinted circuit cards, or the like, which are loaded into a magazinereceptacle.

2. Description of the Prior Art Electronic assemblies fordata-processing equipment and other electronic devices comprise printedcircuit cards on which are mounted one or more discrete electroniccomponents, such as semiconductor modules, resistors, and capacitors.The cards contain conductive patterns and terminals designed tointerconnect components with each other and with components on othercards. A number of separate process steps are usually required to makethe assembly and to form the interconnection of the components to thecard. Since the processes are performed at separate stations,considerable handling of the cards results.

Various devices have been devised for handling printed circuit cards inwhich they are individually fed to a work station and then moved on.Such prior art devices have required a great deal of operator attentionand volume handling has been somewhat limited. with electronicassemblies becoming increasingly smaller, automatic handling deviceshave become much more complex and have not always been able to operatewith the precision required to assure uninterrupted flow of the work athigh volume rates or to initate flow when the demand is made.

SUMMARY OF THE INVENTION It is an object of the present invention toprovide an articlehandling apparatus which is capable of handling largevolumes of work assemblies at high rates with precision operation andwhich is relatively simple in construction and reliable in operation.

It is a specific object to provide an improved article-handlingapparatus for electronic assemblies comprising printed circuit cards towhich electronic components are to be mounted.

It is a further object to provide an article-handling device forelectronic assemblies which can be incorporated into an automatedmanufacturing system and which can operate asynchronously if one or morein-line operating stations causes a delay.

The above, as well as other objects, may be obtained in accordance withthis invention by providing an article-handling apparatus whichcomprises a transfer table for slidably supporting a carrier forarticles to be handled. A separate indexing means supported by the tableintermittently engages the carrier to slidably increment it in stepliltefashion to a transfer position. A transfer mechanism located at thetransfer position moves articles relative to the carrier in response tosignals from a sense means operated by the incrementing mechanism. Sensemeans is also provided which determines the condition of the transfermechanism and initiates the operation of the incrementing mechanism. Inthe preferred form of the invention, the incrementing mechanismcomprises a transport member which is operated in a square motionpattern to intermittently engage the carrier causing it to slide alongthe transfer table. The square motion mechanism preferably comprises avertical elevator mechanism and a lateral reciprocating mechanism. Thetransport member is preferably slidably supported on the elevatingmechanism. The reciprocating motion and elevating motion are produced byseparate pneumatic operators which are controlled by a pneumatic systemactivated by sense means which are pneumatic devices. The precisealignment of the carrier at the transfer position is obtained byproviding a square motion pattern guide means which, in the preferredform, comprises cam tracks supported by the transfer table and camfollowers movable with the transport member. In this manner, largevolumes of articles of manufacture, particularly electronicsubassemblies, can be readily and speedily handled. The use of pneumaticoperator and control devices enable the system to operate asynchronouslyin performing its transfer operation while the indexing mechanism iseasily operated in a cyclical manner.

The foregoing and other objects, features and advantages of theinvention will be apparent from the following more particulardescription of a preferred embodiment of the invention, as illustratedin the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. I is an elevation drawing of aprinted circuit card transfer machine incorporating features of thepresent invention;

FIG. 2 is a plan view of the machine of FIG. I with the card magazineremoved;

FIG. 3 is a section elevation of the machine of FIGS. ll & 2 taken alongline 3-3 of FIG. 2;

FIG. 4 is a fragmentary drawing illustrating the operational positionsof the indexing mechanism in the machine of FIGS. 1-3;

FIG. 5 is a motion schematic illustrating the path of motion of theindexing mechanism;

FIG. 6 is a schematic of the pneumatic system for operating the indexand unload mechanisms of the transfer machine of this invention; and

FIG. 7 is a detail drawing of the magazine for carrying printed circuitcard assemblies in row array.

DESCRIPTION OF THE PREFERRED EMBODIMENT In general, the printed circuitcard transfer machine of the present invention comprises a transfertable, an unloading mechanism, and means for indexing a magazine withprinted card assemblies along the transfer table to a transfer unloadingposition. As best seen in FIG. 7, a magazine It) for carrying multiplecard assemblies II comprises plural channel members I2 attached tospaced transverse support braces 13. The channel members I2 are paralleland slightly spaced to provide openings for the magazine to be grippedat locations between the braces III by the feed mechanism to bedescribed. The bottoms of the braces l3 are preferably grooved toprovide raillilce bearing surfaces I4 to thereby reduce friction whileproviding firm structural support. The channel members 12 are generallyU-shaped with the upper ends bent inwardly to grip a card assembly basemember 15 which carries a printed circuit card I6, or the like. In thepresent application, the card assembly base I5 is a connector havingplural contact elements for making electrical contact with conductiveland terminals formed proximate the edge of the surfaces of the cards I6when the card I6 is inserted into the connector. In this manner, thecard assembly is readily handled for processing through varioussuccessive operations whereby discrete modular semiconductors and otherelectrical components are connected to the card 16. As illustratedfurther in FIG. 7, each channel 12 of the magazine It) is preferablyloaded with several card assemblies II, thereby providing a means forhandling card assemblies in batches while permitting them to beindividually processed. Card assemblies I I are loaded into the magazine10 by sliding the connector base members I5 into the ends of thechannels 12. Loading may be done manually or automatically, using thetransfer machine of the present invention.

The transfer table for supporting the magazine I0, when loaded with cardassemblies 111, comprises a horizontal top plate 117 supported on setsof vertical legs 18 & 19 mounted on a base 2i Slide bars 21 8t 22 areattached between the legs 18 & I9 directly beneath the top plate I7.Means for guiding a magazine 10 as it slides along top plate I7 includesa center guide groove 23 machined into the upper surface of the plate I7and a set of guide rails I424 & 25 attached to the sides of the table bybrackets 26 8t 27 connected to side bars 21 & 22. The support surfacesof groove 23 and guide rails 24 & 25 are coplanar and are spaced toslidably support the magazine by contact with the bearing surfaces 14 onthe bottom of the brace 13. The guide rails 24 8c 25 are provided withoverhanging flanges 24a & 25a to slidably grip the top of the braces 13on opposite sides of the magazine 10. These flanges serve to stabilizeagainst shifting and lifting forces during unloading and indexingoperations. Openings 28 & 29 in flanges 24a & 25a are provided at atransfer position 30 to allow card assemblies 11 to be moved frommagazine 10 to a receiving apparatus 31 which includes a guide channelextension 32. To permit engagement of the magazine 10 by the feedmechanism, two rows of feed apertures 33 & 34 are cut into top plate 17between groove 23 and guide rails 24 & 25. In the aperture rows 33 & 34,all apertures are uniformly spaced and all are of the same size exceptthe end apertures 35 8c 36 which are much larger.

An unload mechanism located proximate transfer position 30 comprises apusher block 37 carried by a bearing member 38 slidably mounted on aguide rail 39 located above the top plate 17. Supporting the guide rod39 at opposite ends are support stands 40 & 41. Support stand 40 isattached to base 10 by a bracket 42. Support stand 41, which is mountedon a support block 43, is connected by bracket 44 to base 20. A secondsupport block 45, in combination with support block 43, holds pneumaticcylinder C3 in position to be connected via position rod 46 to thepusher block 37. The pusher block 37, as best seen in FIGS. 18a 3, has afinger extension 47 on the bottom thereof. The finger extension 47 isdimensioned to permit it to move through the card channels 12 ofmagazine 10 as the pusher block 37 is advanced along guide rod 39 bypiston rod 46 of cylinder C3. Means for sensing operation of the unloadmechanism comprises a first pilot valve P2A attached by bracket 48 tostand 41 to be engaged by pusher block 37 when in the home position, anda second pilot valve P33 attached to stand 40 by bracket 49 to beengaged by pusher block 37 when it is extended to its maximum unloadposition on guide rod 39.

In accordance with this invention the magazine 10, loaded with printedcircuit card assemblies 11 arranged in a plurality of rows in channels12, is slidably indexed along the transfer table such that each row ofcard assemblies 11 is positioned in line with the pusher block 37whereby the assemblies 11 are then transferred from the magazine 10through channel extension 32 to a receiving station 31. The magazinefeed mechanism of this invention comprises a horizontal rectangularcarriage frame 50 located beneath top plate 17 between the side bars 21& 22. The frame 50 is preferably a hollow rectangular frame formed oftwo side and two end pieces in the fashion of a picture frame. Attachedto the upper surfaces of the side pieces of frame 50 are two sets ofteeth 51 arranged in two parallel rows and spaced uniformly at locationscorresponding with the apertures 33-36 in the top plate 17. Thus, eachaperture has a corresponding tooth on frame 50, except the end apertures35 & 36 which have an additional feed tooth 51a. Feed teeth 51 & 51a arespaced on the carriage frame 50 so that they align with spaces betweenthe channels 12 of magazine 10. The feed teeth 51 & 51a in apertures 35& 36 are also spaced to align with spacings between channel members 12of magazine 10; however, the spacing of the teeth in these end aperturesare further spaced apart so that a magazine having its last channel attransfer position 30 is being held by teeth 51a while a second magazine10 is held by teeth 51. This assuresthat the first magazine 10 will bepositively gripped although most of the channels are emptied and movedpast the transfer position.

The carriage frame 50 is supported in horizontal position under topplate 17 by four sectors, 52, 53, 54 and 55 which are part of theelevating mechanism for the frame 50. Sectors 52 & 53 are pivotallymounted at one end of the frame by a rod 56 connected between themounting blocks 57 & 58 attached to the side bars 21 & 22, respectively.Sectors 54 8t 55 are likewise pivotally mounted by a rod 59 attached tomounting blocks 60 & 61 attached to side bars 21 & 22 near the other endof frame 50. Support to frame 50 is provided solely through camwheels'62, 63, 64, &'65 carried by the upper arms of the respectivesectors 52-55. When in position under top plate 17, frame 50 is engagedby the top of cam wheels 62-65 on the bottom of the side pieces thereof.Contact of cam wheels 62-65 with frame 50 is maintained at all times bybrackets 66-69 attached to the side pieces of frame 50. Each bracket66-69 has a groove 70 to receive the cam wheels 62-65. When in groove70, the bottom of cam wheels 62-65 bear against the bottom portion 71 ofthe brackets 66-69. The groove 70 is large enough to permit frame 50 tobe reciprocated laterally. With this structure, frame 50 is positivelyelevated up and down when sectors 52-55 are rotated on rods 56 & 59,thereby imparting quick elevating motion to frame 50. As frame 50 islowered and raised, its horizontal attitude does not vary. This isachieved by operating sectors 52-55 as a unit. For this purpose, thebottom arms of the sectors 52 & 53 are joined by lateral connector rod72. Sectors 54 & 55 are joined by lateral connector rod 73 and bothlateral rods 72 & 73 are connected by longitudinal connector rod 74which is joumaled thereto in suitable fashion. Oscillatory motion isimparted to the joined sector elevating mechanism by an actuator rod 75connected at one end to lateral rod 73 and operated by elevator cylinderC2. Suitable means, such as bracket 76, hold cylinder C2 in pivotalengagement with a crossbar 77 fixed between legs 18 & 19 of the transfertable. Frame 50 is reciprocated horizontally by pneumatic cylinder C1which is connected by rod 78 to the end piece of frame 50. To permitslight angular motion when frame 50 is being reciprocated cylinder C1 ispivotally connected by bracket 79 attached to vertical mounting block 80fixed to top plate 17. Longitudinal alignment for frame 50 as itreciprocates is provided by four bearing wheels 81 attached to the sidepieces of frame 50 between the ends thereof in such manner that theymaintain contact between frame 50 and side bars 2| & 22.

Regulating means for controlling vertical motion of frame 50 includespilot valves HA and P18 attached by brackets 82 & 84, respectively, tovertical support block 83. A pilot valve operating flange 85 is carriedby the end piece of frame 50 and alternately engages pilot valves PIAand PIB. Means for sensing horizontal motion of frame 50 comprises pilotvalves P213 and P3A located on opposite sides of the end pieces of frame50 and are attached by brackets 86 & 87, respectively, to top plate 17.

In handling large quantities of articles, such as printed circuit cards,it is desirable to mount the cards in relatively high density in themagazine 10, as shown in FIG. 7. This requires that the magazine 10 beindexed precisely in line with the unload mechanism and the receiverstation at the transfer position 30. For this reason, frame 50 isrequired to be moved in a very precise square motion pattern. In thepresent invention, this is very readily accomplished by cam tracks 90,91, 92, and 93 formed in the interior surfaces of the side bars 21 & 22of the transfer table within which ride follower cam wheels 94, 95, 96,& 97, respectively, carried by the side pieces of frame 50. In thepreferred form each of the side bars has two cam tracks and each of theside pieces of frame 50 have two follower wheels located between theends of frame 50 to provide total horizontal stability. The cam tracks-93 are shaped in a rectangular form corresponding with the squaremotion pattern desired and have rounded comers to accommodate thefollower wheels 94-97. While the preferred embodiment has the cam tracks90-93 in the side bars 21 & 22, and the follower wheels 94-97 on theframe 50, this arrangement could readily be reversed. However, thepreferred form allows more precise adjustment of the pilot valves PIA,P3A, P18, and P28 relative to the cam tracks 90-93 in the side bars 21 &22 to assure very precise operation of the pilot valves to control framemotion when the cam wheels 94-96 are in correspondingly relatedpositions.

In accordance with the present invention, the machine described in FIGS.1-3 is operable cyclically to produce indexing of the magazine Ill butperforms in an asynchronous manner insofar as operating to unload cardassemblies 11 and in the initiation of the indexing operation. As shownin FIG. 3, the pneumatic system for performing the cyclical andasynchronous control comprises a four-way regulator valve V1 having aninlet connected to an air source SU2 and dual outputs connected throughflow control valves FCI and FC2 to the operating ports of double actingair cylinder Cll having a piston 1106 for reciprocating frame 50 in ahorizontal direction. One input to valve VI is connected to the outputof pilot valve IIB which is closed by flange 85 to connect air sourceSUI to one side of piston 106 when frame 50 is down. The second input ofvalve VI is connected to the output of pilot valve PIA and the input ofpilot valve P3A, valve PIA being open when flange 85 is in contacttherewith (i.e. when frame 50 is up), valve P3A being open when frame 50is in the feed position.

A second four-way regulator valve V2 having an inlet connection tosource SU6 also has dual outlets connected to flow control valves FC3and FC t to inlet ports of a double-acting cylinder C2 having piston 105for operating piston rod 75 to oscillate the sector mechanism to elevateand lower frame 50. One input of valve V2 is connected to pilot valvePZB which is closed when frame 50 is out of its unload position. Thesecond input to valve V2 is connected through an impulse relay tilt) tothe outlet of pilot valve PZA which is closed when actuated by pusherblock 37 in its home position. An impulse relay of the type used here isone which will meter only enough air to actuate the switching mechanismof valve V2 before automatically closing itself to restrict air passagefrom pilot valve PZA. This allows for switching of the air supply tovalve V4 by pilot valve P2B while pilot valve P2A is in the closedcondition.

Valve means is also provided to interrelate the operation of frame 50with the operation of the pusher block 37 and the capacity of receivingstation 311 for accepting card assemblies 11. For these purposes,four-way regulator valve V3 has dual outlets connected throughoppositely directed one-way check valves 101i and 102 to inputs of thedouble acting cylinder valve C3 having piston I64 for moving pusherblock 37. One input of valve V3 is connected in parallel with valve V1to the outlet of pilot valve F18. The other input of valve V3 isconnected to the outlet of pilot valve 1933 which is closed by pusherblock 37 at its ultimate unload position. Connected in parallel withcheck valve 102 is pilot valve P4 which is operable to connect airsource SUE to cylinder C3 to halt the motion of piston rod 36 whenclosed by a card assembly Ill due to the inability of receiving device31 to accept further assemblies. A pressure gauge 1103 is connectedacross check valve Iii]. which reduces the air pressure to cylinder C3in order to be less than pressure supplied through pilot valve 1P4.

Valve V I, having an inlet connection to air source SUE, has its OFFinput connected through impulse relay 1137, of the same type and purposeof impulse relay lltlil, to the outlet of pilot valve P3A and the ONinput connected in parallel with valve V3 to the outlet of pilot valveP38. Regulator valve V il, which has one outlet plugged, has theotheroutlet connected to the input of pilot valve PZA which is closed bypusher block 37 in its home position.

With reference to all Figures, and particularly FIGS. 41-6, theoperation of the machine is as follows:

As seen in FIG. 5, operation is initiated by turning on supply air fromthe air sources SUI-SU3. The air sources may be multiple outlets from asingle air pressure unit or may be separate units; but, in any event,the pressure levels for SUI-SUB are substantially the same. With supplyair turned on, the machine begins operating immediately in accordancewith the condition of the various pilot and regulator valves at the timeof shutoff. Assuming the initial position has frame 50 in the unloadposition, as shown by solid lines in FIG. 4!, and pusher block 37 is inthe home position; then the following conditions exist:

1. Pilot valve PIA is closed by flange 33 while pilot valve P3A isclosed by frame 30.

Piston I66 of reciprocate cylinder Cl is in position 13, piston M ofelevate cylinder C2 is in position A, and piston MM of unload cylinderC3 is in position I-I. Regulator valve V1, therefore, is in position ofbeing switched from L to R so that air from SU2 flows through VI and FC2to right inlet of cylinder CI holding piston I in position B. Likewise,regulator valve V2 is in position of being switched from R to L so thatair from SU6 flowing through V2 and FC3 holds piston I05 in position A.Also, regulator valve V3 will be in condition of being switched from Rto L, thereby opening a flow path for air from SU3 through pressuregauge MP3 to left inlet port of C3.

3. Pilot valves PIB, 1P2B, P313, and P6 are open.

. Pilot valve PZA is closed with pusher block 37 in home position;however, air from SUI: is prevented from switching regulator valve V2since air from SU3 through pilot valves PIA and P3A to impulse relay I07switches OFF regulator valve V4.

With the control system of FIG. 5 in the above condition, when supplyair is turned on, the initial action is for the piston MM of cylinderC3, with air from SU3 through pilot valves PIA and P3A, regulator valveV3 and pressure gauge I63 to advance from position H to U. This openspilot valve P2A and closes pilot valve P38 when pusher block 37 arrivesat the maximum unload position whereby all card assemblies II have beenremoved from the channel I2 in the transfer position 30. When IP3B isclosed by pusher block 37, air from SU tl switches regulator valve V3from L to R and air from SU3 and pilot valves PIA and P3A flows throughcheck valve 102 to right side of cylinder C3 driving piston 104 fromposition U to H, and reopens pilot valve P38. At the same time as valveV3 is being switched, air from SUI! turns regulator valve V4 ON therebysupplying air from SU to PZA. When pusher block 37 again returns to homeposition, pilot valve P2A is closed, and air from SUS operates impulserelay Wt) to supply an air switching pulse to V2 causing it to switchfrom L to R. This opens V2 for air from SU6 to flow through FC l to theright side of cylinder C2 driving piston I05 from position A to positionB. In moving from position A to B, piston I05 through rod 75 rotatessectors 52-55 counterclockwise on rods 56 & 59, thereby causing frame 50to be pulled down by operation of cam wheels 62-65 on extensions 71 ofbrackets 66- 69. In dropping, follower cams 94-97 on frame 50 riding inguide tracks 30-93 in side bars 21 8: 22, restrict the downward motionof frame SIB so that teeth 51 and 51a. in apertures 33-36 drop below thetop of plate I7. The motion of frame 50 in this just described actioncorresponds to movement of frame 50 from position AA TO AB in FIG. 6.

In the motion to position AB, pilot valve P3A is retained closed byframe 50, but flange 33 disengages pilot valve PIA and interrupts theair supply from SU3 to C3 through V3 thereby retaining piston MM andpusher block 37 in home position. Pilot valve PIB has now been closed byflange 85. This supplies air from SUI to valve V3 causing it to switchfrom R to L thereby preconditioning it for unload operation of pistonI04 when pilot valves PIA and 1P3A are later closed. This action of PIBalso supplies air from SUI to switch regulator valve Vll from R to Lcausing air from SU2 to flow through VI and PC! to left side ofreciprocating cylinder CI pushing piston MP6 from position 8 to A. Thisaction causes frame 50 to slide laterally on cam wheels 62-65 of sectors52-55. In moving laterally, feed teeth 51]. and 51a also move belowmagazine I'll within apertures 33-35 to the dotted line position shownin FIG. 5. This motion corresponds to movement of frame 56 from positionAB to position BA of FIG. 6. In moving from position AB to BA, frame Ellis guided by follower cams 94-97 riding in cam tracks 93-93 to the exactlocation where feed teeth 51 and 51a are aligned with new spaces betweenchannels I2 of magazine 10.

In moving to position BA, pilot valve FIB is retained closed by flange85. This assures that pressure from SU6 will be retained on piston 105thereby holding frame 50 in precise location by follower cams 94-97 intracks 90-93. Also, as a result of this motion, pilot valve P3A isopened and pilot valve P18 is closed. This causes air from SU7 to switchregulator valve V2 from R to L causing air from SU6 to pass through V2and FC3 to the left side of elevating cylinder C2 driving piston 105from position B to position A. Thus, the rod 75 rotates sectors 52-55clockwise and cam wheels 62-65 elevate frame 50 from position BA to BBof FIG. 6, causing teeth 51 and 51a to move upwardly within apertures33-35 into spaces between channels 12 of magazine 10. In moving fromposition BA to BB, pilot valve P28 is retained closed. This motioncauses flange 85 to release pilot valve P1B, causing it to open.Regulator valve V1, however, continues to remain in switched L positionso that air from SU2 continues to apply pressure to piston 106 throughrod 78 so that follower cams 94-97 and frame 50 are precisely guidedupwardly by tracks 90-93. In moving upwardly, flange 85 then closespilot valve PIA, causing regulator V1 to be switched from L to R by airfrom SU3. Pilot valve P3A is still open, thus air from SU3 cannot yetstart the unload operation of piston 104. In being switched V1 allowsair from SU2 to flow through FC2 to right inlet of cylinder Cl causingpiston 106 to move from position A to position B. This action now slidesframe 50 on cam wheels 62-65 thereby advancing magazine to bring a newchannel 12 with card assemblies 11 to transfer position 30. In movinglaterally to the unload position, follower cams 94-97 ride along theupper edge of cam tracks 90-93 and stop the frame 50 at the preciseposition necessary to align the new channel 12 of magazine 10 with thetransfer position 30 to enable pusher block 37 to move precisely in linewith the new channel 12. in moving laterally from position BB to AA,frame 50 releases pilot valve PZB thus interrupting air from SU7 tovalve V2 thereby releasing V2 for future switching air from SUS. At thistime, pilot valve P2A is actually in a closed condition since the pusherblock 37 in its home position; however, frame 50 closes pilot valve P3Awhich switches valve V4 OFF thereby preventing V3 from being switcheduntil after the unload operation is completed. With both PlA and P3Aclosed, air from SU3 now flows through V3 and pressure gauge 103 to C3driving piston 104 and pusher block 37 from the home position.

The cycle just described is then repeated until any number of channelsare successively advanced to the transfer position for unloading ofassemblies 11 to receiver 31 by pusher block 37. it might occur that thereceiver 31, which may be another feed mechanism, might cease to operatefor some reason affected by conditions at the receiver or the workstation where electrical components are being attached to the cards 16.in that event, a pilot valve P4 is closed thereby supplying air from SU8to right side of the cylinder C3. Check valve 102 blocks air fromflowing through V3 toexhaust. Since the air pressure from SU8 issomewhat greater than from SU3, due to reduction in air pressure bygauge 103 piston 104 will be halted and moved back thereby relievingpressure on subassemblies 1 1 by pusher block 37. When the piston 104 ismoving back toward position H, reverse check valve 101 opens to relieveback pressure to exhaust. If the stoppage persists, it is possible forthe piston to return to position H. This would cause pusher block 37 toclose pilot valve P2A; but, since V4 is still OFF, no operation of C2can occur. When the jam condition is cleared,

P4 opens and interrupts air from SU8. Since air from SU3 continues toflow through V3, the pressure in piston C3 now moves piston 104 fromposition H to advance pusher block 37 to the point where unloading ofassemblies 11 continues. Thus, the unloading operation may beinterrupted or stopped any number of times during the operation of themachine described. However, the incrementing operation followingunloading operation is cyclically performed rapidly and with precisionto assure volume rate handling of electronic assemblies, or the like.

While the invention has been particularly shown and described withreference to a preferred embodiment thereof, it will be understood bythose skilled in the art that various changes in form and details may bemade therein without departing from the spirit and scope of theinvention.

1 claim:

1. Apparatus for handling articles of manufacture comprismg:

a transfer table for supporting a carrier for articles of manufacture;

means located at a' transfer position for transferring articles relativeto a carrier supported by said table;

means supported by said table for slidably indexing a carrier thereonfor locating articles at said transfer position,

said indexing means comprising a transport member engageable with acarrier slidably supported on said table and means for intermittentlyoperating said transport member to slidably increment a carrier alongsaid table to said transfer position;

said intermittently operating means comprising means for moving saidtransport member in a square motion pattern including means forelevating said transport member vertically into and out of engagementwith a carrier on said table and means for laterally reciprocating saidtransport member relative to said transfer table;

means for precisely aligning a carrier at said transfer positionincluding square motion guide means for said transport member;

sensing means operated by said indexing means for stopping the slidingmovement of said indexing means thereby placing the carrier at thetransfer position; and

means responsive to said sensing means for actuating said transfer meansto effect the transfer of articles relative to a carrier positioned atsaid transfer position.

2. Apparatus in accordance with claim 1 in which said guide meanscomprises a rectangular guide track on said transfer table; and

follower means on said transport member movable along said guide track.

3. Apparatus in accordance with claim 1, in which said transfer meansincludes a pneumatic transfer operator and said pneumatic systemincludes means responsive to signals from said sense means forinitiating operation of said pneumatic transfer operator.

4. Apparatus in accordance with claim 3, which further comprisespneumatic means operable in response to a jam condition in the flow ofarticles during transfer operation for interrupting the operation ofsaid pneumatic transfer operator.

1. Apparatus for handling articles of manufacture comprising: a transfertable for supporting a carrier for articles of manufacture; meanslocated at a transfer position for transferring articles relative to acarrier supported by said table; means supported by said table forslidably indexing a carrier thereon for locating articles at saidtransfer position, said indexing means comprising a transport memberengageable with a carrier slidabLy supported on said table and means forintermittently operating said transport member to slidably increment acarrier along said table to said transfer position; said intermittentlyoperating means comprising means for moving said transport member in asquare motion pattern including means for elevating said transportmember vertically into and out of engagement with a carrier on saidtable and means for laterally reciprocating said transport memberrelative to said transfer table; means for precisely aligning a carrierat said transfer position including square motion guide means for saidtransport member; sensing means operated by said indexing means forstopping the sliding movement of said indexing means thereby placing thecarrier at the transfer position; and means responsive to said sensingmeans for actuating said transfer means to effect the transfer ofarticles relative to a carrier positioned at said transfer position. 2.Apparatus in accordance with claim 1, in which said guide meanscomprises a rectangular guide track on said transfer table; and followermeans on said transport member movable along said guide track. 3.Apparatus in accordance with claim 1, in which said transfer meansincludes a pneumatic transfer operator and said pneumatic systemincludes means responsive to signals from said sense means forinitiating operation of said pneumatic transfer operator.
 4. Apparatusin accordance with claim 3, which further comprises pneumatic meansoperable in response to a jam condition in the flow of articles duringtransfer operation for interrupting the operation of said pneumatictransfer operator.